Fawkes API  Fawkes Development Version
motor_control_thread.cpp
1 
2 /***************************************************************************
3  * motor_control_thread.cpp - Katana direct motor encoder/value control thread
4  *
5  * Created: Sun Mar 13 14:44:24 2011
6  * Copyright 2011-2014 Bahram Maleki-Fard
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #include "motor_control_thread.h"
24 
25 #include "controller.h"
26 #include "exception.h"
27 
28 #include <interfaces/KatanaInterface.h>
29 
30 #include <cstdlib>
31 #include <unistd.h>
32 
33 /** @class KatanaMotorControlThread "goto_thread.h"
34  * Katana motor control thread.
35  * This thread moves a single motor to/by a given value in encoders or angle.
36  * @author Bahram Maleki-Fard
37  */
38 
39 /** Constructor.
40  * @param katana katana controller base class
41  * @param logger logger
42  * @param poll_interval_ms interval in ms between two checks if the
43  * final position has been reached
44  */
46  fawkes::Logger * logger,
47  unsigned int poll_interval_ms)
48 : KatanaMotionThread("KatanaMotorControlThread", katana, logger)
49 {
50  poll_interval_usec_ = poll_interval_ms * 1000;
51 }
52 
53 /** Set target encoder value
54  * @param nr number of motor
55  * @param value encoder value
56  * @param inc is value incremental? deault:false -> absolute
57  */
58 void
59 KatanaMotorControlThread::set_encoder(unsigned int nr, int value, bool inc)
60 {
61  nr_ = nr;
62  encoder_ = value;
63 
64  is_encoder_ = true;
65  is_inc_ = inc;
66 }
67 
68 /** Set target angle value
69  * @param nr number of motor
70  * @param value angle value
71  * @param inc is value incremental? deault:false -> absolute
72  */
73 void
74 KatanaMotorControlThread::set_angle(unsigned int nr, float value, bool inc)
75 {
76  nr_ = nr;
77  angle_ = value;
78 
79  is_encoder_ = false;
80  is_inc_ = inc;
81 }
82 
83 void
85 {
86  try {
87  // non-blocking call to KNI
88  if (is_encoder_) {
89  if (is_inc_)
90 
91  _katana->move_motor_by(nr_, encoder_);
92  else
93  _katana->move_motor_to(nr_, encoder_);
94  } else {
95  if (is_inc_)
96  _katana->move_motor_by(nr_, angle_);
97  else
98  _katana->move_motor_to(nr_, angle_);
99  }
100  } catch (fawkes::KatanaOutOfRangeException &e) {
101  _logger->log_warn("KatanaMotorControlThread", "Motor %u out of range. Ex%s", nr_, e.what());
102  _finished = true;
104  return;
105  } catch (fawkes::Exception &e) {
106  _logger->log_warn("KatanaMotorControlThread",
107  "Moving motor %u failed (ignoring): %s",
108  nr_,
109  e.what());
110  _finished = true;
112  return;
113  }
114 
115  // check if final
116  bool final = false;
117  short num_errors = 0;
118  while (!final) {
119  usleep(poll_interval_usec_);
120  try {
123  } catch (fawkes::Exception &e) {
124  if (++num_errors <= 10) {
125  _logger->log_warn("KatanaMotorControlThread", "Reading sensor/motor data failed, retrying");
126  continue;
127  } else {
128  _logger->log_warn("KatanaMotorControlThread",
129  "Receiving sensor/motor data failed too often, aborting");
131  break;
132  }
133  }
134 
135  try {
136  final = _katana->final();
138  _logger->log_warn("KatanaMotorControlThread", "Motor crashed: %s", e.what());
140  break;
141  }
142  }
143 
144  _logger->log_debug(name(), "Successfully moved motor %u", nr_);
145 
146  _finished = true;
147 }
Katana motion thread base class.
Definition: motion_thread.h:36
fawkes::Logger * _logger
Logger.
Definition: motion_thread.h:52
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
Definition: motion_thread.h:48
bool _finished
Set to true when motion is finished, to false on reset.
Definition: motion_thread.h:50
unsigned int _error_code
Set to the desired error code on error.
Definition: motion_thread.h:54
KatanaMotorControlThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
virtual void once()
Execute an action exactly once.
virtual void set_encoder(unsigned int nr, int value, bool inc=false)
Set target encoder value.
virtual void set_angle(unsigned int nr, float value, bool inc=false)
Set target angle value.
Base class for exceptions in Fawkes.
Definition: exception.h:36
virtual const char * what() const
Get primary string.
Definition: exception.cpp:639
virtual void read_motor_data()=0
Read motor data of currently active joints from device into controller libray.
virtual void read_sensor_data()=0
Read all sensor data from device into controller libray.
virtual void move_motor_to(unsigned short id, int enc, bool blocking=false)=0
Move single joint/motor to encoder value.
virtual void move_motor_by(unsigned short id, int enc, bool blocking=false)=0
Move single joint/motor by encoder value (i.e.
virtual bool final()=0
Check if movement is final.
static const uint32_t ERROR_COMMUNICATION
ERROR_COMMUNICATION constant.
static const uint32_t ERROR_MOTOR_CRASHED
ERROR_MOTOR_CRASHED constant.
static const uint32_t ERROR_CMD_START_FAILED
ERROR_CMD_START_FAILED constant.
static const uint32_t ERROR_UNSPECIFIC
ERROR_UNSPECIFIC constant.
At least one motor crashed.
Definition: exception.h:44
At least one motor is out of range.
Definition: exception.h:38
Interface for logging.
Definition: logger.h:42
virtual void log_debug(const char *component, const char *format,...)=0
Log debug message.
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
const char * name() const
Get name of thread.
Definition: thread.h:100